Rapaić, Milan R.

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  • Rapaić, Milan R. (4)
  • Rapaić, Milan (1)

Author's Bibliography

On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation

Bošković, Marko C.; Rapaić, Milan R.; Sekara, Tomislav B.; Mandić, Petar; Lazarević, Mihailo; Cvetković, Boško; Lutovac, Budimir; Daković, Miloš

(IEEE, New York, 2018)

TY  - CONF
AU  - Bošković, Marko C.
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Lutovac, Budimir
AU  - Daković, Miloš
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2921
AB  - This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.
PB  - IEEE, New York
C3  - 2018 7th Mediterranean Conference on Embedded Computing (Meco)
T1  - On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation
EP  - 475
SP  - 472
DO  - 10.1109/MECO.2018.8405969
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2921
ER  - 
@conference{
author = "Bošković, Marko C. and Rapaić, Milan R. and Sekara, Tomislav B. and Mandić, Petar and Lazarević, Mihailo and Cvetković, Boško and Lutovac, Budimir and Daković, Miloš",
year = "2018",
abstract = "This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.",
publisher = "IEEE, New York",
journal = "2018 7th Mediterranean Conference on Embedded Computing (Meco)",
title = "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation",
pages = "475-472",
doi = "10.1109/MECO.2018.8405969",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2921"
}
Bošković, M. C., Rapaić, M. R., Sekara, T. B., Mandić, P., Lazarević, M., Cvetković, B., Lutovac, B.,& Daković, M.. (2018). On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco)
IEEE, New York., 472-475.
https://doi.org/10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921
Bošković MC, Rapaić MR, Sekara TB, Mandić P, Lazarević M, Cvetković B, Lutovac B, Daković M. On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco). 2018;:472-475.
doi:10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921 .
Bošković, Marko C., Rapaić, Milan R., Sekara, Tomislav B., Mandić, Petar, Lazarević, Mihailo, Cvetković, Boško, Lutovac, Budimir, Daković, Miloš, "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation" in 2018 7th Mediterranean Conference on Embedded Computing (Meco) (2018):472-475,
https://doi.org/10.1109/MECO.2018.8405969 .,
https://hdl.handle.net/21.15107/rcub_machinery_2921 .
11
11

A novel ARX-based discretization method for linear non-rational systems

Bošković, Marko; Šekara, Tomislav; Rapaić, Milan; Lazarević, Mihailo; Mandić, Petar

(Belgrade: Serbian Society of Mechanics, 2016)

TY  - CONF
AU  - Bošković, Marko
AU  - Šekara, Tomislav
AU  - Rapaić, Milan
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4187
AB  - This paper presents a novel, simple, flexible and effective discretization method for linear
non-rational systems including arbitrary linear fractional order systems (LFOS). The
discretization algorithm relies on the direct integration in the complex domain and
application of ARX (AutoRegressive eXogenous) model. Parameters of ARX-model are
obtained by numerical inversion of Laplace transform from the set of input/output data
from recorded step response to model of non-rational system. Numerical simulations of
several representatives of LFOS (e.g. fractional order PID controller, fractional
logarithmic filter, fractional oscillator etc.) are used to demonstrate the effectiveness of
the proposed discretization method, both in the time and frequency domains. The
obtained results indicate that the proposed ARX-based discretization method is adequate
technique for obtaining digital approximation of LFOS.
PB  - Belgrade: Serbian Society of Mechanics
PB  - Faculty of Technical Sciences Novi Sad
C3  - Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
T1  - A novel ARX-based discretization method for linear non-rational systems
EP  - 352
SP  - 343
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4187
ER  - 
@conference{
author = "Bošković, Marko and Šekara, Tomislav and Rapaić, Milan and Lazarević, Mihailo and Mandić, Petar",
year = "2016",
abstract = "This paper presents a novel, simple, flexible and effective discretization method for linear
non-rational systems including arbitrary linear fractional order systems (LFOS). The
discretization algorithm relies on the direct integration in the complex domain and
application of ARX (AutoRegressive eXogenous) model. Parameters of ARX-model are
obtained by numerical inversion of Laplace transform from the set of input/output data
from recorded step response to model of non-rational system. Numerical simulations of
several representatives of LFOS (e.g. fractional order PID controller, fractional
logarithmic filter, fractional oscillator etc.) are used to demonstrate the effectiveness of
the proposed discretization method, both in the time and frequency domains. The
obtained results indicate that the proposed ARX-based discretization method is adequate
technique for obtaining digital approximation of LFOS.",
publisher = "Belgrade: Serbian Society of Mechanics, Faculty of Technical Sciences Novi Sad",
journal = "Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia",
title = "A novel ARX-based discretization method for linear non-rational systems",
pages = "352-343",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4187"
}
Bošković, M., Šekara, T., Rapaić, M., Lazarević, M.,& Mandić, P.. (2016). A novel ARX-based discretization method for linear non-rational systems. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
Belgrade: Serbian Society of Mechanics., 343-352.
https://hdl.handle.net/21.15107/rcub_machinery_4187
Bošković M, Šekara T, Rapaić M, Lazarević M, Mandić P. A novel ARX-based discretization method for linear non-rational systems. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia. 2016;:343-352.
https://hdl.handle.net/21.15107/rcub_machinery_4187 .
Bošković, Marko, Šekara, Tomislav, Rapaić, Milan, Lazarević, Mihailo, Mandić, Petar, "A novel ARX-based discretization method for linear non-rational systems" in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia (2016):343-352,
https://hdl.handle.net/21.15107/rcub_machinery_4187 .

Optimal tuning of fractional PIDCα controller in the frequency domain

Sekara, Tomislav B.; Rapaić, Milan R.; Lazarević, Mihailo

(Institute of Electrical and Electronics Engineers Inc., 2014)

TY  - CONF
AU  - Sekara, Tomislav B.
AU  - Rapaić, Milan R.
AU  - Lazarević, Mihailo
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1948
AB  - A new frequency-domain algorithm for optimization of PID regulators having a fractional differential compensator connected in series (PIDCα) has been developed. The adjustable parameters of the regulator are: proportional gain k, integral gain ki, relative attenuation factor of PID zeros ζ, zero of the fractional differential compensator-1/τ and fractional power a of the differential compensator. The optimization procedure is based on maximization of integral or proportional gain, given values of the maximum sensitivity Ms and sensitivity to measurement noise Mn. By solving the optimization procedure one obtains parameters of PIDCα regulator which results in minimum IAE (Integrated Absolute Error). The analysis of optimal PIDCα is performed through a series of simulations for several dynamic processes representative for industrial applications.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
T1  - Optimal tuning of fractional PIDCα controller in the frequency domain
DO  - 10.1109/ICFDA.2014.6967357
ER  - 
@conference{
author = "Sekara, Tomislav B. and Rapaić, Milan R. and Lazarević, Mihailo",
year = "2014",
abstract = "A new frequency-domain algorithm for optimization of PID regulators having a fractional differential compensator connected in series (PIDCα) has been developed. The adjustable parameters of the regulator are: proportional gain k, integral gain ki, relative attenuation factor of PID zeros ζ, zero of the fractional differential compensator-1/τ and fractional power a of the differential compensator. The optimization procedure is based on maximization of integral or proportional gain, given values of the maximum sensitivity Ms and sensitivity to measurement noise Mn. By solving the optimization procedure one obtains parameters of PIDCα regulator which results in minimum IAE (Integrated Absolute Error). The analysis of optimal PIDCα is performed through a series of simulations for several dynamic processes representative for industrial applications.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014",
title = "Optimal tuning of fractional PIDCα controller in the frequency domain",
doi = "10.1109/ICFDA.2014.6967357"
}
Sekara, T. B., Rapaić, M. R.,& Lazarević, M.. (2014). Optimal tuning of fractional PIDCα controller in the frequency domain. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/ICFDA.2014.6967357
Sekara TB, Rapaić MR, Lazarević M. Optimal tuning of fractional PIDCα controller in the frequency domain. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;.
doi:10.1109/ICFDA.2014.6967357 .
Sekara, Tomislav B., Rapaić, Milan R., Lazarević, Mihailo, "Optimal tuning of fractional PIDCα controller in the frequency domain" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014),
https://doi.org/10.1109/ICFDA.2014.6967357 . .
3
3

On discrete, finite-dimensional approximation of linear, infinite dimensional systems

Rapaić, Milan R.; Sekara, Tomislav B.; Lazarević, Mihailo

(Nova Science Publishers, Inc., 2014)

TY  - CHAP
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1979
AB  - Many phenomena are naturally described in terms of dynamical systems of infinite order. Such phenomena cannot be adequately described by an interconnection of a finite number of accumulating elements, i.e., by means of differential or difference equations of finite order. Among the well-known examples are distributed parameter systems, which are usually described by partial differential equations, and fractional order systems, which are described by fractional differential equations. In order for an infinite-dimensional system to be simulated or implemented using a digital computer, it must be approximated by a finitedimensional model. Numerous methods for finite-dimensional approximations of infinite dimensional systems have been considered in literature. If spatial distribution of variables is of interest, distributed parameter systems are often simulated by means of the finite elements method (FEM). If the spatial distribution of variables is not of interest, as it is the case with fractional order models, an approximating ordinary differential equation of sufficiently high order is used for approximation. A novel, flexible and numerically efficient method for rational, finite-dimensional approximation of linear, infinite-dimensional systems is presented in the current chapter. The proposed method uses the least-squares (LS) procedure to interpolate frequency domain response of a fractional order system using a finite number of incident frequencies. An adequate comparative analysis has also been carried out through corresponding examples by applying several other known approximation methods.
PB  - Nova Science Publishers, Inc.
T2  - Fractional Calculus: Theory
T1  - On discrete, finite-dimensional approximation of linear, infinite dimensional systems
EP  - 274
SP  - 257
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1979
ER  - 
@inbook{
author = "Rapaić, Milan R. and Sekara, Tomislav B. and Lazarević, Mihailo",
year = "2014",
abstract = "Many phenomena are naturally described in terms of dynamical systems of infinite order. Such phenomena cannot be adequately described by an interconnection of a finite number of accumulating elements, i.e., by means of differential or difference equations of finite order. Among the well-known examples are distributed parameter systems, which are usually described by partial differential equations, and fractional order systems, which are described by fractional differential equations. In order for an infinite-dimensional system to be simulated or implemented using a digital computer, it must be approximated by a finitedimensional model. Numerous methods for finite-dimensional approximations of infinite dimensional systems have been considered in literature. If spatial distribution of variables is of interest, distributed parameter systems are often simulated by means of the finite elements method (FEM). If the spatial distribution of variables is not of interest, as it is the case with fractional order models, an approximating ordinary differential equation of sufficiently high order is used for approximation. A novel, flexible and numerically efficient method for rational, finite-dimensional approximation of linear, infinite-dimensional systems is presented in the current chapter. The proposed method uses the least-squares (LS) procedure to interpolate frequency domain response of a fractional order system using a finite number of incident frequencies. An adequate comparative analysis has also been carried out through corresponding examples by applying several other known approximation methods.",
publisher = "Nova Science Publishers, Inc.",
journal = "Fractional Calculus: Theory",
booktitle = "On discrete, finite-dimensional approximation of linear, infinite dimensional systems",
pages = "274-257",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1979"
}
Rapaić, M. R., Sekara, T. B.,& Lazarević, M.. (2014). On discrete, finite-dimensional approximation of linear, infinite dimensional systems. in Fractional Calculus: Theory
Nova Science Publishers, Inc.., 257-274.
https://hdl.handle.net/21.15107/rcub_machinery_1979
Rapaić MR, Sekara TB, Lazarević M. On discrete, finite-dimensional approximation of linear, infinite dimensional systems. in Fractional Calculus: Theory. 2014;:257-274.
https://hdl.handle.net/21.15107/rcub_machinery_1979 .
Rapaić, Milan R., Sekara, Tomislav B., Lazarević, Mihailo, "On discrete, finite-dimensional approximation of linear, infinite dimensional systems" in Fractional Calculus: Theory (2014):257-274,
https://hdl.handle.net/21.15107/rcub_machinery_1979 .
4

An efficient method for approximation of non-rational transfer functions

Sekara, Tomislav B.; Rapaić, Milan R.; Lazarević, Mihailo

(University of Banja Luka, 2013)

TY  - JOUR
AU  - Sekara, Tomislav B.
AU  - Rapaić, Milan R.
AU  - Lazarević, Mihailo
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1779
AB  - A method for rational approximation of linear fractional order systems (LFOS) is presented in the present paper. The method is computationally efficient, flexible and effective, as is illustrated by numerous examples. The proposed approach can also be used as an intermediate stage in designing indirect discrete rational approximations.
PB  - University of Banja Luka
T2  - Electronics
T1  - An efficient method for approximation of non-rational transfer functions
EP  - 44
IS  - 1
SP  - 40
VL  - 17
DO  - 10.7251/ELS1317030R
ER  - 
@article{
author = "Sekara, Tomislav B. and Rapaić, Milan R. and Lazarević, Mihailo",
year = "2013",
abstract = "A method for rational approximation of linear fractional order systems (LFOS) is presented in the present paper. The method is computationally efficient, flexible and effective, as is illustrated by numerous examples. The proposed approach can also be used as an intermediate stage in designing indirect discrete rational approximations.",
publisher = "University of Banja Luka",
journal = "Electronics",
title = "An efficient method for approximation of non-rational transfer functions",
pages = "44-40",
number = "1",
volume = "17",
doi = "10.7251/ELS1317030R"
}
Sekara, T. B., Rapaić, M. R.,& Lazarević, M.. (2013). An efficient method for approximation of non-rational transfer functions. in Electronics
University of Banja Luka., 17(1), 40-44.
https://doi.org/10.7251/ELS1317030R
Sekara TB, Rapaić MR, Lazarević M. An efficient method for approximation of non-rational transfer functions. in Electronics. 2013;17(1):40-44.
doi:10.7251/ELS1317030R .
Sekara, Tomislav B., Rapaić, Milan R., Lazarević, Mihailo, "An efficient method for approximation of non-rational transfer functions" in Electronics, 17, no. 1 (2013):40-44,
https://doi.org/10.7251/ELS1317030R . .
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